CN108958472B - Method and device for controlling travel suitcase through gestures - Google Patents
Method and device for controlling travel suitcase through gestures Download PDFInfo
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- CN108958472B CN108958472B CN201810475819.1A CN201810475819A CN108958472B CN 108958472 B CN108958472 B CN 108958472B CN 201810475819 A CN201810475819 A CN 201810475819A CN 108958472 B CN108958472 B CN 108958472B
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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Abstract
The embodiment of the invention provides a method and a device for controlling a travel suitcase by gestures, wherein the travel suitcase comprises: a processor and a motor, the method comprising: the processor acquires an electromyographic signal acquired by electromyographic signal acquisition equipment, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm; determining a preset control instruction corresponding to the acquired myoelectric signal; controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move; by applying the scheme provided by the embodiment of the invention, the travel suitcase can be automatically moved according to the will of people.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a method and a device for controlling a travel suitcase by gestures.
Background
Because traveling can relax the mood, widen the eyes and see cultural food in various places, traveling is increasingly becoming a way for people to enjoy life along with the improvement of living standard. People usually carry a plurality of travel articles during traveling, and a travel suitcase becomes an indispensable travel tool for carrying the travel articles.
Although traveling cases can be convenient for people to carry traveling articles, the existing traveling cases can be moved only by pulling. In addition, people may be tired during traveling, and the travel suitcase brings great burden to people when being convenient for people to carry travel articles and pulled to move. Therefore, in order to relieve fatigue of people during a trip, it is urgently needed to provide a method capable of controlling the automatic movement of the travel box according to the will of the people.
Disclosure of Invention
The embodiment of the invention aims to provide a method and a device for controlling a travel suitcase through gestures, which can automatically move according to the will of people. The specific technical scheme is as follows:
a method of gesture controlling a travel container, the travel container comprising: a processor and a motor, the method comprising:
the processor acquires an electromyographic signal acquired by electromyographic signal acquisition equipment, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
determining a preset control instruction corresponding to the acquired myoelectric signal;
and controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
Further, in the moving process of the traveling case, the traveling case further comprises:
detecting whether barriers exist in a preset range of the environment where the suitcase is located;
and if the obstacle is detected, controlling the travel suitcase to avoid the obstacle according to the relative position between the detected obstacle and the travel suitcase.
Further, the traveling case further comprises: the ultrasonic generators are arranged at different positions of the target outer surface of the suitcase, the target outer surface is the outer surface corresponding to the advancing direction of the suitcase, and the detection of whether the suitcase has obstacles in a preset range of the environment comprises the following steps:
recording the time from the sending of the ultrasonic signal to the return of the ultrasonic signal of each ultrasonic generator as the round-trip time;
and detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal.
Further, the controlling the suitcase to avoid the obstacle according to the relative position between the detected obstacle and the suitcase comprises:
calculating the distance between the detected obstacle and each ultrasonic generator according to the recorded round-trip time of each ultrasonic signal;
determining a relative position between the detected obstacle and the travel container using the calculated distance;
and controlling the travel suitcase to avoid the detected barrier according to the determined relative position.
Further, under the condition that acquiring the electromyographic signals acquired by the electromyographic signal acquisition device fails, the method further comprises the following steps:
receiving a mobile control instruction sent by a client;
and controlling the motor to rotate according to the movement control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
Further, the traveling case further comprises: a handprint lock, the method further comprising:
acquiring handprint information acquired by the handprint lock;
matching the acquired handprint information with prestored handprint information;
when the matching is successful, controlling the hand-print lock to be opened;
and when the matching is unsuccessful, carrying out exception reminding.
Further, the traveling case further comprises: the gyroscope is also arranged in the moving process of the travel suitcase and comprises the following steps:
acquiring the speed and the acceleration of the suitcase, which are acquired by the gyroscope, and calculating the position and the attitude of the gravity center of the suitcase according to the acquired speed and acceleration;
and adjusting the pose of the travel suitcase by utilizing the calculated pose of the gravity center of the travel suitcase so as to enable the travel suitcase to move stably.
Further, in the moving process of the traveling case, the traveling case further comprises:
carrying out filtering processing on the speed and the acceleration acquired within a preset time period by utilizing a Kalman filtering algorithm;
correcting the speed and the acceleration after filtering by using a preset pose model;
determining the adjusted rotating speed of the motor according to the corrected speed and acceleration;
and controlling the motor to rotate at the adjusted rotating speed, so that the motor drives the wheels of the travel suitcase to rotate according to the adjusted rotating speed.
A device for gesture control of a travel container, the device comprising:
the electromyographic signal acquisition module is used for acquiring an electromyographic signal acquired by electromyographic signal acquisition equipment by the processor, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
the control instruction determining module is used for determining a preset control instruction corresponding to the acquired myoelectric signal;
and the rotation determining module is used for controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and the suitcase is driven to move.
A travel suitcase comprises a processor, a communication interface, a motor, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication through the memory;
a memory for storing a computer program;
and the processor is used for executing any one of the methods for controlling the travel suitcase by the gesture when executing the program stored in the memory.
In yet another aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute any one of the above-mentioned methods for controlling a travel suitcase by gestures.
In another aspect of the present invention, the present invention also provides a computer program product containing instructions, which when run on a computer, causes the computer to execute any of the above-mentioned methods for controlling a travel suitcase through gestures.
The embodiment of the invention provides a method and a device for controlling a travel suitcase by gestures, wherein the travel suitcase comprises: a processor and a motor, the method comprising: the processor acquires an electromyographic signal acquired by electromyographic signal acquisition equipment; determining a preset control instruction corresponding to the acquired myoelectric signal; and controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move. Compared with the prior art, the scheme provided by the embodiment of the invention can automatically move according to the will of people. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a suitcase through gestures according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a method for controlling a suitcase through gestures according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a method for controlling a suitcase through a third gesture according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a device for controlling a suitcase through gestures according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a flowchart of a method for controlling a suitcase through gestures, where the suitcase includes: a processor and a motor, the method comprising:
s101, acquiring an electromyographic signal acquired by electromyographic signal acquisition equipment by the processor, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
the electromyographic signals are to be understood as the superposition of the action potentials of the motor units in the plurality of muscle fibers in time and space.
It is understood that the movement of the muscle is consciously controlled, when the brain is excited and conducts downwards, the cell body and dendrite of the motor neuron of the central nervous system generate electric pulses under the stimulation from synapse, the muscle takes different states every time the arm muscle acts, and the electromyographic signals collected by the electromyographic signal collecting device are different.
The electromyographic signal acquisition equipment can finish the acquisition of electromyographic signals through electrodes contacting the skin. That is, when the electromyographic signal acquisition device passes through the muscle activity guided and recorded from the muscle surface, the bioelectrical changes of the neuromuscular system generate signals in a one-dimensional time series, which are the electromyographic signals that reflect to some extent the activity pattern of the motor unit and the state of the muscle function.
One specific implementation may be: the arm electromyographic signals are collected through electromyographic signal collecting equipment, and the electromyographic signal collecting equipment mainly comprises a recognizer and a receiver. The recognizer is fixedly arranged on an arm of a person, one gesture corresponds to one electromyographic signal, and after the person makes the gesture, the recognizer outputs the electromyographic signal through a muscle state caused by the recognition gesture and sends the output electromyographic signal to the receiver through a Bluetooth low energy consumption technology. The receiver can be fixedly installed on the suitcase, and the receiver is mainly used for receiving the electromyographic signals sent by the identifier and sending the electromyographic signals to the processor through a serial port or a General Purpose Input Output (GPIO).
For the above specific implementation, the receiver may also belong to a component of the suitcase, that is, the electromyographic signal acquisition device includes an identifier, and the receiver belongs to the suitcase.
For one example, after a fist is made by a hand, the muscle state is changed, the electromyographic signal of the muscle state at the moment is collected by the recognizer of the electromyographic signal collecting device and is sent to the receiver of the electromyographic signal collecting device, and the received electromyographic signal is transmitted to the processor by the receiver.
S102, determining a preset control instruction corresponding to the acquired myoelectric signal;
the preset control instruction is a preset control instruction, and one myoelectric signal corresponds to one control instruction.
As an example, according to the above example, the recognizer outputs an electromyographic signal, the receiver sends the electromyographic signal to the processor, the processor matches the received electromyographic signal with an electromyographic signal to be matched, and if the matching is successful, a control instruction corresponding to the electromyographic signal to be matched is determined, where the electromyographic signal to be matched and the preset control instruction are in a one-to-one correspondence relationship.
S103, controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
In the step, after the control instruction corresponding to the received electromyographic signal is determined, the motor is controlled to rotate according to the control instruction.
For an example, if the gesture indicates a left-turning instruction, the processor determines a left-turning control instruction and then controls the motor to rotate according to the left-turning instruction, and if the suitcase has two wheels, the left-side wheel driven by the motor is controlled to rotate and the right-side wheel is controlled to rotate, so that the purpose of turning left is achieved.
In one embodiment, the method for controlling the travel suitcase by gestures during the travel of the travel suitcase further comprises the following steps a and B:
step A: and B, detecting whether the obstacle exists in the preset range of the environment of the suitcase by the processor, and executing the step B if the obstacle exists.
The preset range is a preset range, and the range can be a range in which the distance between the preset range and the outer surface of the suitcase is a preset value, and the preset value can be 30 centimeters.
And B: and controlling the travel suitcase to avoid the obstacle according to the relative position between the detected obstacle and the travel suitcase.
An obstacle is understood to be an object that prevents the travel container from moving, and the object may be a pillar, a large stone, or a wall in a stationary state, or may be a person, an animal, or a vehicle in a moving state.
Therefore, the function of avoiding the barrier is arranged, so that the travel suitcase can move freely at any place, the travel suitcase is more intelligent, and the burden of people brought by the travel suitcase is further reduced.
In one embodiment, the travel container further comprises: the detection method comprises the following steps of C-D, wherein the ultrasonic generators are arranged at different positions of a target outer surface of the suitcase, the target outer surface is an outer surface corresponding to the advancing direction of the suitcase, and whether an obstacle exists in a preset range of the environment where the suitcase is located can be detected through the following steps:
and C: the processor records the time from the emission of the ultrasonic signal to the return of the ultrasonic signal for each ultrasonic generator as the round trip time.
Wherein, the recording of the round trip time is from the time when an ultrasonic signal is sent by an ultrasonic transmitter to the time when the processor receives the ultrasonic signal and finishes the recording.
Step D: and detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal.
One implementation is as follows: and comparing the recorded round trip time of each ultrasonic signal with preset time to detect whether an obstacle exists in the preset range of the environment where the suitcase is located. If the round-trip time is greater than the preset time, it is indicated that no obstacle exists in the preset range of the environment where the suitcase is located, and if the round-trip time is less than the preset time, it is indicated that an obstacle exists in the preset range of the environment where the suitcase is located.
The preset time is preset with a time threshold value, which may be 9 seconds.
Therefore, the method for detecting whether the environment of the suitcase has the obstacles or not by utilizing the ultrasonic signals has high precision and is simple.
In one embodiment, controlling the suitcase to avoid an obstacle according to the relative position between the detected obstacle and the suitcase can be realized by the following steps E-G:
step E: the distance of the detected obstacle from each ultrasonic generator is calculated based on the recorded round trip time of each ultrasonic signal.
Since the speed of sound in air is constant, i.e., 344 m/s, each ultrasonic generator is located at a distance L from the obstacle,
t is the round trip time.
Step F: determining a relative position between the detected obstacle and the travel container using the calculated distance.
Step G: and controlling the travel suitcase to avoid the detected barrier according to the determined relative position.
Therefore, the recorded round trip time of each ultrasonic signal is utilized, the position of the obstacle can be accurately determined, so that the suitcase can accurately avoid the obstacle, and the safety and the intelligence of the suitcase are further improved.
In one embodiment, in the case that acquiring the electromyographic signals acquired by the electromyographic signal acquisition device fails, the gesture-controlled suitcase may further include the following steps H-I:
step H: and receiving a mobile control instruction sent by the client.
The client may be a client installed on a mobile device, wherein the mobile device may be a mobile phone, a laptop computer, or the like. The client can be connected with the processor through Bluetooth technology, infrared technology or a wireless network.
Example (c): acquiring a request for connecting a Bluetooth module, an infrared module or a WIFI module, which is sent by mobile equipment;
starting a Bluetooth module, an infrared module or a WIFI module according to a request sent by the mobile equipment;
and when the Bluetooth module, the infrared module or the WIFI module is successfully matched with the mobile equipment, executing a step of receiving a mobile control instruction sent by the client.
Step I: and controlling the motor to rotate according to the movement control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
Therefore, in the embodiment, the motor is controlled to rotate according to the movement control instruction sent by the client, so that the travel suitcase moves according to the will of people.
In one embodiment, the travel container further comprises: the method for controlling the travel suitcase through the gestures can further comprise the following steps of J-M:
step J: acquiring handprint information acquired by the handprint lock;
step K: matching the acquired handprint information with prestored handprint information, executing the step L when the matching is successful, and executing the step M when the matching is unsuccessful;
the prestored handprint information refers to the handprint information which is collected in advance by the handprint collector and is stored in the storage medium of the suitcase.
Step L: controlling the hand-print lock to open;
step M: and carrying out abnormity reminding.
Wherein, the exception reminding can include: a buzzing sound is given; sending a vibration prompt instruction to a worn bracelet; and sending an abnormity reminding instruction to the mobile equipment to show the information of the abnormity reminding.
Therefore, the hand-print lock is arranged, so that the suitcase is safer than the existing coded lock, a person who sets the hand-print can only open the hand-print lock, and the situation that the suitcase is unsafe due to password leakage cannot occur.
In one embodiment, the travel container further comprises: the gyroscope is also arranged in the moving process of the travel suitcase and comprises the following steps:
acquiring the speed and the acceleration of the suitcase, which are acquired by the gyroscope, and calculating the position and the attitude of the gravity center of the suitcase according to the acquired speed and acceleration;
and adjusting the pose of the travel suitcase by utilizing the calculated pose of the gravity center of the travel suitcase so as to enable the travel suitcase to move stably.
And adjusting the position and posture of the suitcase to a preset stable position and posture according to the calculated position and posture of the gravity center of the suitcase, wherein the stable position and posture is stored in advance and can keep the suitcase balanced.
Therefore, the speed and the acceleration of the suitcase are collected in real time through the gyroscope, the position and the posture of the gravity center of the suitcase are calculated, and the position and the posture of the suitcase can be adjusted at any time so that the suitcase can move stably.
In one implementation, the traveling case is provided with a GPS module, and the GPS module can use an Arduino mega2560 core board to read longitude and latitude data of the GPS, and upload the data to the china mobile onent server through a GPRS (general packet Radio Service) module by using a SIM800C GSM/GPRS module. The position and the movement track of the equipment can be inquired through the Onenet webpage end or the mobile phone client. The realization mode can track the position of the travel suitcase at any time to prevent the travel suitcase from being lost.
Example (c): and acquiring a positioning instruction sent by the client, and sending the position of the suitcase to the client.
Monitoring the distance between a target signal sent by the bracelet and the suitcase in real time, and sending an abnormal prompt if the distance is greater than or equal to a preset distance;
therefore, according to the method provided by the embodiment of the invention, the motor is controlled to rotate according to the control instruction corresponding to the electromyographic signal according to the acquired electromyographic signal, so that the motor drives the wheels of the suitcase to rotate, the suitcase is driven to move, and the suitcase can automatically move according to the will of people.
Referring to fig. 2, a flowchart of a second method for controlling a suitcase through gestures according to an embodiment of the present invention is provided, and compared with the foregoing embodiment shown in fig. 1, the suitcase processing includes, in addition to a processor and a motor, the method further includes: the ultrasonic generators are arranged at different positions of the target outer surface of the travel suitcase, and the target outer surface is the outer surface corresponding to the advancing direction of the travel suitcase.
Specifically, the method for controlling the travel suitcase through the gesture comprises the following steps:
s201, acquiring an electromyographic signal acquired by electromyographic signal acquisition equipment by the processor, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
s202, determining a preset control instruction corresponding to the acquired myoelectric signal;
s203, controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move;
s201 to S203 are the same as the methods executed in steps S101 to S103 in the embodiment of fig. 1, respectively. Therefore, the implementation manners mentioned in the embodiment shown in fig. 1 are all adapted to the related steps related to the embodiment shown in fig. 2, and can achieve the same or similar beneficial effects, and are not described herein again.
S204, recording the time from the sending of the ultrasonic signal to the returning of the ultrasonic signal of each ultrasonic generator as the round-trip time;
in the step, each ultrasonic generator triggers the ultrasonic generator to transmit ultrasonic signals in real time.
When the processor receives the ultrasonic signals to return, the corresponding return time of each ultrasonic signal is recorded.
S205, detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal;
s206, if the obstacle is detected, controlling the travel suitcase to avoid the obstacle according to the relative position between the detected obstacle and the travel suitcase.
Therefore, the method provided by the embodiment of the invention not only enables the travel suitcase to automatically move according to the will of people, but also can actively avoid the obstacle when meeting the obstacle.
Referring to fig. 3, a flowchart of a method for controlling a suitcase through a third gesture provided by the embodiment of the present invention includes:
s301, acquiring an electromyographic signal acquired by an electromyographic signal acquisition device by the processor, wherein the electromyographic signal acquisition device is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
s302, determining a preset control instruction corresponding to the acquired myoelectric signal;
s303, controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move;
s301 to S303 are the same as the methods executed in steps S101 to S103 in the embodiment of fig. 1, respectively. Therefore, the implementation manners mentioned in the embodiment shown in fig. 1 are all adapted to the related steps related to the embodiment shown in fig. 3, and can achieve the same or similar beneficial effects, and are not described herein again.
S304, filtering the speed and the acceleration acquired in the preset time period by using a Kalman filtering algorithm;
the kalman filter algorithm can be understood as an algorithm for performing optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through a system.
It should be noted that the kalman filter algorithm may be used to remove outliers of the speed and the acceleration obtained within the preset time period, that is, to remove values corresponding to the unnecessary speed and the unnecessary acceleration.
S305, correcting the speed and the acceleration after filtering by using a preset pose model;
after the speed and the acceleration after the filtering processing are corrected, the shaking of the suitcase can be reduced, and the suitcase can move stably.
The velocity and the acceleration after the pose model adjustment and filtering processing respectively reach the required values
S306, determining the adjusting rotating speed of the motor according to the corrected speed and acceleration;
the rotation speed adjustment can be understood as adjusting the rotation speed of the motor of the suitcase after the speed and the acceleration of the wheels are corrected, so that the suitcase can move stably according to the corrected speed and acceleration.
S307, controlling the motor to rotate at the adjusted rotating speed, so that the motor drives the wheels of the travel suitcase to rotate according to the adjusted rotating speed;
after the control motor rotates according to the adjusted rotating speed, the travel suitcase can reduce the self-shaking, so that the travel suitcase can move more stably.
S308, recording the time from the sending of the ultrasonic signal to the returning of the ultrasonic signal of each ultrasonic generator as the round-trip time;
s309, detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal;
and S310, if the obstacle is detected, controlling the travel suitcase to avoid the obstacle according to the relative position between the detected obstacle and the travel suitcase.
S308 to S310 are the same as the methods executed in steps S205 to S206 in the embodiment of fig. 2. Therefore, the implementation manners mentioned in the embodiment shown in fig. 2 are all adapted to the related steps related to the embodiment shown in fig. 3, and can achieve the same or similar beneficial effects, and are not described herein again.
Therefore, the method provided by the embodiment of the invention not only enables the travel suitcase to automatically move according to the will of people, but also can adjust the speed and the acceleration of the wheels of the travel suitcase in the moving process, so that the travel suitcase can also stably move on the up and down slopes, and meanwhile, the travel suitcase can actively avoid the obstacles under the condition of meeting the obstacles.
Corresponding to the method for controlling the travel suitcase through the gestures, the embodiment of the application also provides a device for controlling the travel suitcase through the gestures.
Referring to fig. 4, an embodiment of the present invention provides a schematic structural diagram of a device for controlling a suitcase through gestures, where the device includes:
an electromyographic signal acquisition module 401, configured to acquire an electromyographic signal acquired by an electromyographic signal acquisition device by the processor, where the electromyographic signal acquisition device is configured to acquire the electromyographic signal by recognizing a muscle state of an arm;
a control instruction determining module 402, configured to determine a preset control instruction corresponding to the obtained myoelectric signal;
and a rotation determining module 403, configured to control the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move.
In one implementation, the apparatus may further include:
the barrier detection module is used for detecting whether barriers exist in a preset range of the environment where the suitcase is located;
and the barrier avoiding module is used for controlling the travel suitcase to avoid the barrier according to the relative position between the detected barrier and the travel suitcase if the barrier is detected.
In one implementation, the travel container further includes: at least two ultrasonic generators, each ultrasonic generator being arranged at a different position of the outer surface of the travel container, the obstacle detecting module comprising:
the time obtaining submodule is used for recording the time from the sending of the ultrasonic signal to the returning of the ultrasonic signal of each ultrasonic generator as round-trip time;
and the detection submodule is used for detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal.
In one implementation, the obstacle avoidance module includes:
the distance calculation submodule is used for calculating the distance between the detected obstacle and each ultrasonic generator according to the recorded round trip time of each ultrasonic signal;
a relative position determination submodule for determining a relative position between the detected obstacle and the travel suitcase using the calculated distance;
and the avoidance control submodule is used for controlling the travel suitcase to avoid the detected barrier according to the determined relative position.
In one implementation manner, in case of failure in acquiring the electromyographic signal acquired by the electromyographic signal acquiring device, the apparatus may further include:
the mobile control instruction receiving module is used for receiving a mobile control instruction sent by the client;
and the control moving module is used for controlling the motor to rotate according to the movement control instruction so that the motor drives the wheels of the suitcase to rotate and further drives the suitcase to move.
In one implementation, the travel container further includes: a hand-lock, the apparatus may further comprise:
the handprint information acquisition module is used for acquiring the handprint information acquired by the handprint lock;
the matching module is used for matching the acquired handprint information with prestored handprint information; when the matching is successful, triggering the opening module, and when the matching is unsuccessful, triggering the abnormity reminding module;
the unlocking module is used for controlling the hand-print lock to be unlocked;
and the abnormity reminding module is used for carrying out abnormity reminding.
In one implementation, the travel container further includes: the gyroscope can also comprise the following components in the process of moving the travel suitcase:
the gravity center pose calculation module is used for acquiring the speed and the acceleration of the suitcase acquired by the gyroscope and calculating the pose of the gravity center of the suitcase according to the acquired speed and acceleration;
and the pose adjusting module is used for adjusting the pose of the suitcase by utilizing the calculated pose of the gravity center of the suitcase so as to enable the suitcase to move stably.
In one implementation, during the movement of the traveling case, the apparatus may further include:
the filtering processing module is used for filtering the speed and the acceleration acquired in the preset time period by utilizing a Kalman filtering algorithm;
the correcting module is used for correcting the speed and the acceleration after the filtering processing by utilizing a preset pose model;
the adjusting rotating speed determining module is used for determining the adjusting rotating speed of the motor according to the corrected speed and acceleration;
and the motor control module is used for controlling the motor to rotate at the adjusted rotating speed so that the motor drives the wheels of the travel suitcase to rotate according to the adjusted rotating speed.
Therefore, the device provided by the embodiment of the invention controls the motor to rotate according to the control instruction corresponding to the myoelectric signal according to the obtained myoelectric signal, so that the motor drives the wheels of the travel suitcase to rotate, the travel suitcase is driven to move, and the travel suitcase can automatically move according to the will of people.
An embodiment of the present invention further provides an electronic device, as shown in fig. 5, which includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504, where the processor 501, the communication interface 502 and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501 is configured to implement the method for controlling the suitcase through gestures according to the embodiment of the present invention when executing the program stored in the memory 503.
Specifically, the method for controlling the travel suitcase through the gesture comprises the following steps:
the processor acquires an electromyographic signal acquired by electromyographic signal acquisition equipment, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
determining a preset control instruction corresponding to the acquired myoelectric signal;
and controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
Therefore, when the electronic device provided by the embodiment is executed, the motor is controlled to rotate according to the control instruction corresponding to the myoelectric signal according to the acquired myoelectric signal, so that the motor drives the wheels of the suitcase to rotate, the suitcase is driven to move, and the suitcase can automatically move according to the will of people.
The implementation of the method for controlling the travel suitcase by the related content through gestures is the same as the management method for controlling the travel suitcase through gestures provided in the foregoing method embodiment, and details are not repeated here.
In another embodiment provided by the present invention, a computer-readable storage medium is further provided, in which instructions are stored, and when the instructions are executed on a computer, the computer is enabled to implement a method for controlling a travel suitcase through gestures provided by the embodiment of the present invention.
Specifically, the method for controlling the travel suitcase through the gesture comprises the following steps:
the processor acquires an electromyographic signal acquired by electromyographic signal acquisition equipment, wherein the electromyographic signal acquisition equipment is used for acquiring the electromyographic signal by identifying the muscle state of an arm;
determining a preset control instruction corresponding to the acquired myoelectric signal;
and controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the travel suitcase to rotate, and further drives the travel suitcase to move.
Therefore, when the application program stored in the computer-readable storage medium provided by this embodiment is executed, the motor is controlled to rotate according to the control instruction corresponding to the electromyographic signal according to the acquired electromyographic signal, so that the motor drives the wheels of the suitcase to rotate, thereby driving the suitcase to move, and the suitcase can be automatically moved according to the will of a person.
The implementation of the method for controlling the travel suitcase by the related content through gestures is the same as the management method for controlling the travel suitcase through gestures provided in the foregoing method embodiment, and details are not repeated here.
In yet another embodiment, the present invention further provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the method for controlling a travel suitcase by gestures described in any of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, the electronic device or the storage medium embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (3)
1. A method of gesture control of a travel container, the travel container comprising: the method comprises the following steps of processing, a motor, at least two ultrasonic generators, a handprint lock and a gyroscope, wherein the ultrasonic generators are arranged at different positions of a target outer surface of the travel suitcase, and the target outer surface is an outer surface corresponding to the advancing direction of the travel suitcase, and the method comprises the following steps:
the electromyographic signals collected by the electromyographic signal collecting equipment are obtained by the processor, wherein the electromyographic signal collecting equipment comprises a recognizer and a receiver, and the recognizer is arranged on an arm of a person and used for outputting the electromyographic signals by recognizing the muscle state of the arm; the output electromyographic signals are sent to a receiver, and the receiver is installed on the suitcase and used for receiving the electromyographic signals sent by the identifier and sending the received electromyographic signals to a processor;
determining a preset control instruction corresponding to the obtained myoelectric signal, including: the processor matches the received electromyographic signals with electromyographic signals to be matched, and if the matching is successful, control instructions corresponding to the electromyographic signals to be matched are determined, wherein the electromyographic signals to be matched and preset control instructions are in one-to-one correspondence;
controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move;
in the travel process of the travel suitcase, the travel suitcase further comprises:
detecting whether barriers exist in a preset range of the environment where the suitcase is located;
if the obstacle is detected, controlling the travel suitcase to avoid the obstacle according to the relative position between the detected obstacle and the travel suitcase;
the detection of whether the travel suitcase has obstacles in the preset range of the environment comprises the following steps:
recording the time from the sending of the ultrasonic signal to the return of the ultrasonic signal of each ultrasonic generator as the round-trip time;
detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal;
the controlling the traveling case to avoid the obstacle according to the relative position between the detected obstacle and the traveling case comprises:
calculating the distance between the detected obstacle and each ultrasonic generator according to the recorded round-trip time of each ultrasonic signal;
determining a relative position between the detected obstacle and the travel container using the calculated distance;
controlling the travel suitcase to avoid the detected barrier according to the determined relative position;
under the condition that the electromyographic signals acquired by the electromyographic signal acquisition equipment fail to be acquired, the method further comprises the following steps:
receiving a mobile control instruction sent by a client;
controlling the motor to rotate according to the movement control instruction, so that the motor drives the wheels of the suitcase to rotate, and further drives the suitcase to move;
the method further comprises the following steps:
acquiring handprint information acquired by the handprint lock;
matching the acquired handprint information with prestored handprint information;
when the matching is successful, controlling the hand-print lock to be opened;
when the matching is unsuccessful, carrying out abnormal reminding;
in the travel process of the travel suitcase, the travel suitcase further comprises:
acquiring the speed and the acceleration of the suitcase, which are acquired by the gyroscope, and calculating the position and the attitude of the gravity center of the suitcase according to the acquired speed and acceleration;
adjusting the pose of the suitcase by utilizing the calculated pose of the gravity center of the suitcase so as to enable the suitcase to move stably;
in the travel process of the travel suitcase, the travel suitcase further comprises:
carrying out filtering processing on the speed and the acceleration acquired within a preset time period by utilizing a Kalman filtering algorithm;
correcting the speed and the acceleration after filtering by using a preset pose model;
determining the adjusted rotating speed of the motor according to the corrected speed and acceleration;
and controlling the motor to rotate at the adjusted rotating speed, so that the motor drives the wheels of the travel suitcase to rotate according to the adjusted rotating speed.
2. A device for controlling a travel suitcase by gestures, the device comprising:
the electromyographic signal acquisition module is used for acquiring an electromyographic signal acquired by electromyographic signal acquisition equipment by a processor, wherein the electromyographic signal acquisition equipment comprises an identifier and a receiver, and the identifier is arranged on an arm of a person and used for outputting the electromyographic signal by identifying the muscle state of the arm; the output electromyographic signals are sent to a receiver, and the receiver is installed on the suitcase and used for receiving the electromyographic signals sent by the identifier and sending the received electromyographic signals to a processor;
the control instruction determining module is used for determining a preset control instruction corresponding to the acquired myoelectric signal, and comprises the following steps: the processor matches the received electromyographic signals with electromyographic signals to be matched, and if the matching is successful, control instructions corresponding to the electromyographic signals to be matched are determined, wherein the electromyographic signals to be matched and preset control instructions are in one-to-one correspondence;
the rotation determining module is used for controlling the motor to rotate according to the determined control instruction, so that the motor drives the wheels of the suitcase to rotate, and the suitcase is further driven to move;
the device further comprises: the barrier detection module is used for detecting whether barriers exist in a preset range of the environment where the suitcase is located;
the obstacle avoiding module is used for controlling the suitcase to avoid the obstacle according to the relative position between the detected obstacle and the suitcase if the obstacle is detected;
the obstacle detection module includes:
the time obtaining submodule is used for recording the time from the sending of the ultrasonic signal to the returning of the ultrasonic signal of each ultrasonic generator as round-trip time;
the detection submodule is used for detecting whether an obstacle exists in a preset range of the environment where the suitcase is located according to the recorded round-trip time of each ultrasonic signal;
the obstacle avoidance module includes:
the distance calculation submodule is used for calculating the distance between the detected obstacle and each ultrasonic generator according to the recorded round trip time of each ultrasonic signal;
a relative position determination submodule for determining a relative position between the detected obstacle and the travel suitcase using the calculated distance;
the avoidance control submodule is used for controlling the travel suitcase to avoid the detected barrier according to the determined relative position;
under the condition that the electromyographic signals acquired by the electromyographic signal acquisition equipment fail to be acquired, the device further comprises:
the mobile control instruction receiving module is used for receiving a mobile control instruction sent by the client;
the control moving module is used for controlling the motor to rotate according to the movement control instruction, so that the motor drives the wheels of the suitcase to rotate, and the suitcase is driven to move;
the device further comprises:
the handprint information acquisition module is used for acquiring the handprint information acquired by the handprint lock;
the matching module is used for matching the acquired handprint information with prestored handprint information; when the matching is successful, triggering the opening module, and when the matching is unsuccessful, triggering the abnormity reminding module;
the unlocking module is used for controlling the hand-print lock to be unlocked;
the abnormity reminding module is used for carrying out abnormity reminding;
during the travel of the suitcase, the device further comprises:
the gravity center pose calculation module is used for acquiring the speed and the acceleration of the suitcase acquired by the gyroscope and calculating the pose of the gravity center of the suitcase according to the acquired speed and acceleration;
the position and pose adjusting module is used for adjusting the position and pose of the suitcase by utilizing the calculated position and pose of the gravity center of the suitcase so as to enable the suitcase to move stably;
during the travel of the suitcase, the device further comprises:
the filtering processing module is used for filtering the speed and the acceleration acquired in the preset time period by utilizing a Kalman filtering algorithm;
the correcting module is used for correcting the speed and the acceleration after the filtering processing by utilizing a preset pose model;
the adjusting rotating speed determining module is used for determining the adjusting rotating speed of the motor according to the corrected speed and acceleration;
and the motor control module is used for controlling the motor to rotate at the adjusted rotating speed so that the motor drives the wheels of the travel suitcase to rotate according to the adjusted rotating speed.
3. A travel suitcase is characterized by comprising a processor, a communication interface, a motor, a memory and a communication bus, wherein the processor and the communication interface are communicated with each other through the communication bus by the memory;
a memory for storing a computer program;
a processor for implementing the method steps of claim 1 when executing a program stored in the memory.
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| CN105595577A (en) * | 2015-12-24 | 2016-05-25 | 泉州市范特西智能科技有限公司 | Intelligent luggage case |
| CN106527716A (en) * | 2016-11-09 | 2017-03-22 | 努比亚技术有限公司 | Wearable equipment based on electromyographic signals and interactive method between wearable equipment and terminal |
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| CN105817037B (en) * | 2016-05-19 | 2018-05-25 | 深圳大学 | A kind of toy aircraft and its control method based on myoelectricity control |
| CN107340868B (en) * | 2017-07-05 | 2020-12-18 | 北京奇艺世纪科技有限公司 | Data processing method and device and VR equipment |
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| CN105595577A (en) * | 2015-12-24 | 2016-05-25 | 泉州市范特西智能科技有限公司 | Intelligent luggage case |
| CN106527716A (en) * | 2016-11-09 | 2017-03-22 | 努比亚技术有限公司 | Wearable equipment based on electromyographic signals and interactive method between wearable equipment and terminal |
| CN106970627A (en) * | 2017-05-17 | 2017-07-21 | 深圳市元时科技有限公司 | A kind of intelligent system for tracking |
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